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vr-runtime
VR runtime with low-latency reprojection
OpenXR
System
Techniques · 7
Primitives · 25
vr-runtime
Foveated rendering
graphics · medium: Lower shading rate in the periphery via variable rate shading or multi-resolution, driven by eye tracking
Late latching reprojection
graphics · medium: Sample the newest head pose right before scanout and reproject the frame (ATW, ASW, spacewarp)
Layer compositing
graphics · medium: Composite retained layers or surfaces on the GPU; overlay planes, opacity and transforms
Stereo multiview rendering
graphics · medium: Render both eyes in one pass with multiview or instanced stereo
Visual inertial odometry
robotics · medium: Fuse camera features with IMU preintegration in a filter or sliding-window optimizer for 6-DoF pose
Camera calibration
robotics · medium: Intrinsic/extrinsic calibration (Zhang's method, distortion models, bundle adjustment)
Levenberg marquardt
numerics · medium: Damped Gauss-Newton nonlinear least squares for model calibration
GPU command buffers
graphics · low: Record GPU work as a flat list of commands on the CPU, submit it in batches, and reuse its memory through a ring of frames in flight guarded by fences.
›
Kalman filter
robotics · low: Optimal recursive estimator for a linear system with Gaussian noise: fuses a motion model with noisy measurements into a state estimate plus its covariance.
›
Quaternion rotations
geometry · low: Unit quaternions as 3D rotations: 4 floats, cheap composition, no gimbal lock, plus the conversions, interpolation choices and numerical care needed in practice.
›
Vsync frame pacing
graphics · low: Vsync, swapchain presentation modes, frame pacing, latency and variable refresh
Lens distortion correction
graphics · low: Pre-warp rendered frames for headset optics: barrel distortion mesh and chromatic aberration
Shared memory ipc
concurrency · low: Shared memory rings and futex signalling between processes
Real time linux scheduling
embedded · low: PREEMPT_RT, SCHED_FIFO/DEADLINE, CPU isolation and mlockall for low-jitter loops
Gpu synchronization fences
graphics · low: Fences, timeline semaphores and sync files between GPU queues, CPU and processes
Gpu priority preemption
hardware-os · low: GPU context priorities and compute or graphics preemption granularity for latency-critical work
Image resampling filters
graphics · low: Resize an image by convolving with a kernel (box, triangle, cubic, Lanczos) whose width scales with the shrink factor, done as two separable 1-D passes with precomputed weights.
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Homogeneous transforms
geometry · low: 4x4 affine and projective matrices, homogeneous coordinates, view and projection, normal matrices
Image warping remap
graphics · low: Resampling with lookup maps: resize, lens undistortion, homographies, bilinear/bicubic
Alpha compositing
graphics · low: Porter-Duff compositing with premultiplied alpha and blend modes
Damage tracking
graphics · low: Track dirty rectangles so each frame repaints and recomposites only what changed
Display list recording
graphics · low: Record draw commands into a replayable list for caching, culling and off-thread raster
Display scanout modesetting
graphics · low: KMS: CRTCs, planes, atomic commits, page flips, vblank events and direct scanout
+ 9 more primitives
System
Techniques · 7
Primitives · 25
vr-runtime
Foveated rendering
graphics · medium: Lower shading rate in the periphery via variable rate shading or multi-resolution, driven by eye tracking
Late latching reprojection
graphics · medium: Sample the newest head pose right before scanout and reproject the frame (ATW, ASW, spacewarp)
Layer compositing
graphics · medium: Composite retained layers or surfaces on the GPU; overlay planes, opacity and transforms
Stereo multiview rendering
graphics · medium: Render both eyes in one pass with multiview or instanced stereo
Visual inertial odometry
robotics · medium: Fuse camera features with IMU preintegration in a filter or sliding-window optimizer for 6-DoF pose
Camera calibration
robotics · medium: Intrinsic/extrinsic calibration (Zhang's method, distortion models, bundle adjustment)
Levenberg marquardt
numerics · medium: Damped Gauss-Newton nonlinear least squares for model calibration
GPU command buffers
graphics · low: Record GPU work as a flat list of commands on the CPU, submit it in batches, and reuse its memory through a ring of frames in flight guarded by fences.
›
Kalman filter
robotics · low: Optimal recursive estimator for a linear system with Gaussian noise: fuses a motion model with noisy measurements into a state estimate plus its covariance.
›
Quaternion rotations
geometry · low: Unit quaternions as 3D rotations: 4 floats, cheap composition, no gimbal lock, plus the conversions, interpolation choices and numerical care needed in practice.
›
Vsync frame pacing
graphics · low: Vsync, swapchain presentation modes, frame pacing, latency and variable refresh
Lens distortion correction
graphics · low: Pre-warp rendered frames for headset optics: barrel distortion mesh and chromatic aberration
Shared memory ipc
concurrency · low: Shared memory rings and futex signalling between processes
Real time linux scheduling
embedded · low: PREEMPT_RT, SCHED_FIFO/DEADLINE, CPU isolation and mlockall for low-jitter loops
Gpu synchronization fences
graphics · low: Fences, timeline semaphores and sync files between GPU queues, CPU and processes
Gpu priority preemption
hardware-os · low: GPU context priorities and compute or graphics preemption granularity for latency-critical work
Image resampling filters
graphics · low: Resize an image by convolving with a kernel (box, triangle, cubic, Lanczos) whose width scales with the shrink factor, done as two separable 1-D passes with precomputed weights.
›
Homogeneous transforms
geometry · low: 4x4 affine and projective matrices, homogeneous coordinates, view and projection, normal matrices
Image warping remap
graphics · low: Resampling with lookup maps: resize, lens undistortion, homographies, bilinear/bicubic
Alpha compositing
graphics · low: Porter-Duff compositing with premultiplied alpha and blend modes
Damage tracking
graphics · low: Track dirty rectangles so each frame repaints and recomposites only what changed
Display list recording
graphics · low: Record draw commands into a replayable list for caching, culling and off-thread raster
Display scanout modesetting
graphics · low: KMS: CRTCs, planes, atomic commits, page flips, vblank events and direct scanout
Image pyramids
graphics · low: Gaussian/Laplacian pyramids and tiled multi-resolution images for zoom and blending
Extended Kalman filter
robotics · low: Kalman filter for nonlinear motion and measurement models: linearize f and h with Jacobians at the current estimate each step. The default estimator in robot navigation.
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Feature detection orb
robotics · low: FAST corners with oriented BRIEF descriptors and Hamming matching for tracking and relocalization
PCA and SVD
machine-learning · low: Find orthogonal directions of maximum variance by an SVD of the centred data; randomized SVD gets the top k components in a few passes.
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Finite differences
numerics · low: Replace derivatives with weighted differences of grid values; simple stencils plus a stability condition (CFL) turn PDEs like heat, advection and waves into array loops.
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LU and Cholesky factorization
numerics · low: Factor A = PLU (any square matrix, partial pivoting) or A = LLᵀ (SPD) once in O(n³), then solve each right-hand side in O(n²).
›
Convolution image filters
graphics · low: Separable 2D convolution kernels for blur, sharpen (unsharp mask) and edges with border handling
Explicit Euler
numerics · low: Step an ODE forward by its current slope, y += h·f(t, y); first-order, one evaluation per step, the baseline every other integrator is measured against.
›
Thomas tridiagonal solver
numerics · low: O(n) tridiagonal linear solve used in implicit finite-difference and spline schemes
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